EP3221609B1 - Verfahren zur steuerung von kupplungskraft in einem kupplungspaket - Google Patents

Verfahren zur steuerung von kupplungskraft in einem kupplungspaket Download PDF

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Publication number
EP3221609B1
EP3221609B1 EP15798659.7A EP15798659A EP3221609B1 EP 3221609 B1 EP3221609 B1 EP 3221609B1 EP 15798659 A EP15798659 A EP 15798659A EP 3221609 B1 EP3221609 B1 EP 3221609B1
Authority
EP
European Patent Office
Prior art keywords
clutch
force
amount
clutch pack
actuation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15798659.7A
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English (en)
French (fr)
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EP3221609A1 (de
Inventor
Stijn Goossens
Thomas J. VYNCKE
Mark R.J. Versteyhe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dana Automotive Systems Group LLC
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Dana Automotive Systems Group LLC
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Publication date
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Publication of EP3221609A1 publication Critical patent/EP3221609A1/de
Application granted granted Critical
Publication of EP3221609B1 publication Critical patent/EP3221609B1/de
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F16D48/064—Control of electrically or electromagnetically actuated clutches
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D23/00—Details of mechanically-actuated clutches not specific for one distinct type
    • F16D23/12—Mechanical clutch-actuating mechanisms arranged outside the clutch as such
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D28/00—Electrically-actuated clutches
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
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    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D23/00—Details of mechanically-actuated clutches not specific for one distinct type
    • F16D23/12—Mechanical clutch-actuating mechanisms arranged outside the clutch as such
    • F16D2023/123—Clutch actuation by cams, ramps or ball-screw mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
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    • F16D2500/1021—Electrical type
    • F16D2500/1023—Electric motor
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/1021—Electrical type
    • F16D2500/1023—Electric motor
    • F16D2500/1025—Electric motor with threaded transmission
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/104—Clutch
    • F16D2500/10406—Clutch position
    • F16D2500/10412—Transmission line of a vehicle
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    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/104—Clutch
    • F16D2500/10406—Clutch position
    • F16D2500/10431—4WD Clutch dividing power between the front and the rear axle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/10443—Clutch type
    • F16D2500/1045—Friction clutch
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/1064—Electric
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    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
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    • F16D2500/1066—Hybrid
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/302—Signal inputs from the actuator
    • F16D2500/3022—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/302—Signal inputs from the actuator
    • F16D2500/3024—Pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/3026—Stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/304—Signal inputs from the clutch
    • F16D2500/3041—Signal inputs from the clutch from the input shaft
    • F16D2500/30412—Torque of the input shaft
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D2500/3065—Torque of the engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50236—Adaptations of the clutch characteristics, e.g. curve clutch capacity torque - clutch actuator displacement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50245—Calibration or recalibration of the clutch touch-point
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50245—Calibration or recalibration of the clutch touch-point
    • F16D2500/50251—During operation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/504—Relating the engine
    • F16D2500/5043—Engine fuel consumption
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
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    • F16D2500/70404—Force
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    • F16D2500/00—External control of clutches by electric or electronic means
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    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
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    • F16D2500/70418—Current
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    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
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    • F16D2500/706—Strategy of control
    • F16D2500/70605—Adaptive correction; Modifying control system parameters, e.g. gains, constants, look-up tables
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    • F16D2500/708—Mathematical model
    • F16D2500/7082—Mathematical model of the clutch
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    • F16D2500/71—Actions
    • F16D2500/7101—Driver alarm

Definitions

  • Vehicles that include all-wheel drive capability have many advantages over vehicles that are driven using a single axle. Specifically, vehicles that include all-wheel drive capability have increased traction and enhanced drivability over similar vehicles that are driven using a single axle. All-wheel drive vehicles, however, do have some disadvantages.
  • Drivelines of all-wheel drive vehicles typically include many more moving components than a driveline of a vehicle having a single drive axle. Moving these components requires additional power, so all-wheel drive vehicles tend to have a fuel economy that is lower than that of vehicles having a single drive axle. This is particularly true when the all-wheel drive vehicle is operated in a manner that does not disconnect a second drive axle from a remaining portion of the driveline.
  • active differentials To improve the fuel economy of all-wheel drive vehicles, vehicle manufacturers have incorporated active differentials into the driveline.
  • a control system in communication with the active differential is used to engage, partially engage, or disengage the differential.
  • active differentials provide the benefit of being able to control an amount of torque applied to the second drive axle or a portion of the second drive axle.
  • Actuation systems typically used with active differentials typically comprise an actuation motor, a force translational device, and a clutch pack.
  • force translational device force applied by the actuation motor is applied to the clutch pack, at least variably engaging two components of the driveline.
  • the amount of force needed to engage the clutch pack can vary as the actuation system wears.
  • Current systems however, apply the same electrical current to the actuation motor, which applies the same force in all situations. It would be better to accurately estimate the amount of force needed to actuate the clutch, and thus estimate the current needed to only actuate the motor as much as needed, so the system is appropriate sized and operating efficiently.
  • Document WO 2011/149903 A1 relates to a torque transfer device for a motor vehicle.
  • the device includes a clutch for transferring torque between first and second shafts.
  • An electromagnetic actuator includes an axially moveable armature for applying an application force to the clutch.
  • An actuator control system includes a force sensor positioned within a clutch actuation force load path and is operable to output a signal indicative of a force applied to the clutch.
  • the control system includes a controller operable to control the electromagnetic actuator to vary the force applied to the clutch based on the force sensor signal.
  • This document does not disclose monitoring a rotational position of said actuation motor and an amount of said motor torque being applied to a clutch pack by an actuation motor at a set point force, determining a clutch clamping curve, wherein said clutch clamping curve is determined based on a relationship between said rotational position of said actuation motor and said amount of motor torque applied by said actuation motor at said rotational position of said actuator motor, determining a clutch releasing curve, wherein said clutch releasing curve is determined based on a relationship between said rotational position of said actuation motor and said amount of motor torque applied by said actuation motor at said rotational position of said actuator motor, modeling frictional characteristics associated with said clamping and release of said clutch pack by said control unit and wherein said model of said frictional characteristic is used to update a kiss point for said clutch pack, estimating a clamping force and a releasing force applied by said actuation motor using said control unit, and maintaining said amount of motor torque applied to said clutch pack between said clutch clamping curve and said clutch releasing curve at said set
  • Fig. 1 illustrates a vehicle 100 having a driveline 102 with all-wheel drive functionality.
  • the vehicle has an engine 104, where the engine 104 is connected to a transmission 106.
  • the transmission 106 is connected to a transfer case 108.
  • the transfer case 108 splits power from the transmission 106 to a front axle differential 110 and a rear axle differential 112.
  • a clutch 114 associated with the front axle 116 can disconnect or connect the front axle 116 with the rest of the driveline 102.
  • the transfer case 108 includes a clutch actuation system, or the transfer case may be in communication with the clutch actuation system.
  • the clutch actuation system may be such as depicted in Fig. 3 .
  • Fig. 2 illustrates a vehicle 200 having a driveline 202 with all-wheel drive functionality.
  • the vehicle has an engine (not shown but as in Fig. 1 ), where the engine is connected to a transmission (not shown but as in Fig. 1 ).
  • the transmission is connected to a front axle differential 204.
  • the front axle differential 204 provides rotation to the front axle 206.
  • a dog clutch or a power-take off 208 on, or in connection with, the front axle differential 204 is provided.
  • the power-take off 208 provides rotation to a propeller shaft 210 extending to a rear axle system 212.
  • the rear axle system 212 comprises a rear differential 214.
  • Rear axle half shafts 216, 218 are connected to the rear differential 214 and extend therefrom.
  • One rear axle half shaft 216 extends to a clutch actuation system as depicted in Fig. 3 .
  • FIG. 3 illustrates the clutch actuation system 300.
  • the clutch actuation system 300 comprises a control unit 302, an actuation motor 304, a force translational device 306, and a clutch pack 308.
  • the force translational device 306 shown in FIG. 3 is a ball and ramp actuator, but it is understood that the force translational device 306 may be any type of actuator that converts rotational motion into translational motion to load the clutch pack 308.
  • the actuation motor 304 and the force translational device 306 are located adjacent the clutch pack 308.
  • a bearing 310 supports rotation of the force translational device 306 within a housing 312 when the force translational device 306 is placed in an engaged position.
  • the clutch actuation system 300 is shown being used with a rear drive unit similar to the rear drive unit 112, but it is understood that the clutch actuation system 300 may be used with other types of drive units that facilitate driving variable engagement between a driving and driven driveline component.
  • the actuation motor 304 may be such as a reversible electric motor as it is compact and easily controllable. It will be appreciated that any other appropriate type of actuator may be used, such as hydraulic or pneumatic, and these are within the scope of the invention.
  • the actuation motor 304 is capable of applying a predetermined amount of torque based on a control signal received from the control unit 302. Alternately, the actuation motor 304 may be configured to relay an amount of torque applied by the actuation motor 304 to the control unit 302.
  • the actuation motor 304 drives a gear set 314, which is a reduction set of gears. As shown in FIG. 3 , a gear of the actuation motor 304 drives a second gear, which in turn drives a third gear.
  • the gear set 314 achieves a desired torque speed reduction between the actuation motor 304 and the third gear. Other gear numbers and orientations of the gear set 314 are possible other than as shown to result in different speeds and torques.
  • the third gear is in driving engagement with an actuating ring 316.
  • the actuating ring 316 has a set of teeth on an outer radial surface that engages with the teeth on the third gear.
  • the teeth of the actuating ring 316 are circumferentially extending from a peripheral edge of the actuating ring 316.
  • the teeth of the actuating ring 316 may cover the full circumference of the actuating ring 316 or a portion of the circumference.
  • the rotation of the third gear drives the teeth of the actuating ring 316, thus rotating the actuating ring 316.
  • the actuating ring 316 is part of the force translational device 306.
  • the force translational device 306 also comprises a pressure plate 318 and a plurality of balls 320 between the pressure plate 318 and the actuating ring 316.
  • the pressure plate 318 resists an axial force applied thereto, causing the actuating ring 316 to apply a force to a first thrust bearing 322 located adjacent thereto.
  • the force applied to the first thrust bearing 322 is used to load the clutch pack 308.
  • the pressure plate 318 is non-rotatably mounted within the housing 312.
  • An annular radial surface of the pressure plate 318 facing the actuating ring 316 is formed with a set of circumferentially extending grooves (not shown) of varying axial depth.
  • the grooves in the pressure plate 318 face complementary grooves (not shown) on an opposite annular surface of the actuating ring 316, whose depth varies in the opposite circumferential sense.
  • a corresponding number of the balls 320 are disposed between the pressure plate 318 and the actuating ring 316, one in each pair of the facing grooves. It is understood that the balls 320 may also be rollers which function in a similar manner.
  • a cam disc actuator (not shown) including cooperative cam surfaces provided on opposite sides of an actuating ring and a pressure collar may be used. It is also appreciated that other types of actuators may be used.
  • the actuation motor 304 moves the actuating ring 316 angularly relative to the pressure plate 318, the actuating ring 316 moves axially and causes the actuating ring 316 to frictionally load the clutch pack 308.
  • the axial movement of the actuating ring 316 is transmitted to the clutch pack 308 through the first thrust bearing 322.
  • the first thrust bearing 322 is provided between the actuating ring 316 and the clutch pack 308 to allow for relative rotation and to reduce the friction between the actuating ring 316 and the clutch pack 308.
  • a second thrust bearing 324 allows for relative rotation and to reduce the friction between a clutch can and the housing 312.
  • the clutch pack 308 is comprised of an inner hub 326 and an outer hub 328.
  • the inner hub 326 is located radially inward and concentric with the outer hub 328.
  • a plurality of radially outwardly extending clutch plates 330 are mounted for axial movement along the inner hub 326.
  • the inner hub 326 is connected to, such as through splines, a first axle half shaft 332.
  • One end 334 of the first axle half shaft 332 is connected to a first side gear 338 of a differential 340, the other end 336 of the first axle half shaft 332 extends to a first wheel end.
  • the inner hub clutch plates 330 are interleaved with a plurality of radially inwardly extending clutch plates 342 mounted for axial movement on the outer hub 328.
  • the outer hub 328 is connected to a differential case 344.
  • the differential case 344 contains the first side gear 338, a second side gear 346 and two differential pinion gears 348 meshed with the side gears 338, 346.
  • a second axle half shaft 350 extends from the second side gear 346 to a second wheel end.
  • the differential case 344 is connected to a ring gear 352.
  • a pinion gear 354 is meshed with the ring gear 352.
  • the pinion gear 354 is connected to a source for rotation, such as an engine, a transmission, or a propeller shaft to impart rotation to the ring gear 352, and thus the differential 340.
  • the clutch actuation system 300 is used to estimate a force applied by the clutch pack 308 between a driving and driven driveline component.
  • the control unit 302 performs the estimate using one of two methods or by fusing the estimates performed using both methods into a single estimation.
  • control unit 302 may also decrease a torque applied by the actuation motor 304. Where the clutch actuation system 300 is electrically operated, such a decrease in torque applied also decreases a power consumption of the clutch actuation system 300 for a given output torque. In more general terms, the control unit 302 decreases the actuation power needed by the clutch actuation system 300.
  • the control unit 302 estimates a force applied by the clutch pack 308 directly based on an applied torque by the actuation motor 304.
  • the force applied by the clutch pack 308 (which for the purpose of describing the first method, can be represented as F clutch ) can be derived using the following steps.
  • the applied torque by the actuation motor 304 is either estimated or obtained.
  • the applied torque is directly proportional to the current in the actuation motor. Therefore, the current can be measured and the applied torque can be determined.
  • the friction characteristics of the clutch actuation system 300 are modeled.
  • the modeling can be accomplished by knowing the frictional coefficients associated with the various parts of the system, including the clutch pack.
  • an acceleration and an inertia of the clutch actuation system 300 are estimated to compensate for any inertial effects caused by the applied torque of the actuation motor 304.
  • the control unit 302 receives signals needed to perform the estimation.
  • the signals may be such as the actuation motor current, the friction coefficients of the system and the acceleration and inertia of the system.
  • the control unit 302 may also receive signals concerning an operating condition of the clutch actuation system 300 (such as a temperature signal or an estimation of temperature).
  • FIG. 4 is a graph illustrating an exemplary actuation and release of the clutch actuation system 300 according to the first method described hereinabove.
  • FIG. 4 illustrates that the clutch actuation system 300 exhibits a significant amount of Coulomb friction.
  • Fig. 4 it can be appreciated from Fig. 4 that as the torque of the actuation motor increases during clutch pack clamping and the force on the clutch increases, a portion of the motor torque is allocated for the power needed to clamp the clutch and a portion of the motor torque is allocated for overcoming the friction in the system.
  • the clutch pack is released, a portion of the motor torque is used to release the clutch pack and a portion of the motor torque is allocated for overcoming the friction in the system.
  • F clutch the force applied by the clutch pack 308
  • T EM applied torque by the actuation motor 304
  • control unit 302 estimates a force applied by the clutch pack 308 based on an observation that a friction coefficient of the clutch pack 308 is symmetrical during the operations of actuating or releasing the clutch pack 308.
  • the force applied by the clutch pack 308 can be derived using the following steps.
  • an indication of a position of a plurality of plates of the clutch pack 308 is communicated to the control unit 302.
  • a rotational position of the actuation motor 304 may be used. If the clutch pack 308 is clamped and released in a relatively quick manner, the rotational position of the actuation motor 304 at least partially covers the same clutch positions, and therefore the friction force can be eliminated due to the fact that the sign of the friction (according to the Coulomb model) changes but an absolute value is substantially identical.
  • the control unit 302 may receive signals concerning an actuation (such as motor voltage, current and motor speed for example) of the clutch actuation system 300. Further, the control unit 302 may receive signals concerning an operating condition of the clutch actuation system 300 (such as a temperature, a mode of travel, and an operational speed, for example).
  • FIG. 5 is a graph illustrating an exemplary actuation and release of the clutch actuation system 300 according to the second method described hereinabove.
  • the equation above can be used to generate the line between the clamping and releasing lines in Fig. 5 . It can be appreciated that the between line can vary its position on the graph as the clutch system experiences wear, temperature effects, etc.
  • the second method predicts the position of the between line in view of these variations.
  • the between line of Fig. 5 demonstrates the symmetrical nature of the friction coefficient of the clutch pack during actuation and release of the clutch pack.
  • the estimates of the force generated by the force translational device 306 using the above described relations can then be used to update or learn a relationship between the force generated by the clutch pack 308 and a position of the clutch pack 308 by using known mathematical methods.
  • the advantage of using the above described relations is that the methods above do not require knowledge about the parameters of the friction behavior of the actuation mechanism of the clutch pack 308.
  • An achieved position for a same applied torque of the actuation motor 304 can vary over a course of time. As a non-limiting example, this may be due to wear of the plurality of clutch plates forming the clutch pack 308. Measurements which are used to indicate the variance are collected during the actuation and releasing of the clutch actuation system 300. These measurements are sorted by type (actuation or release) and stored in a memory of the control unit 302. During actuation, a force versus position relation of the actuation motor 304 and force translational device 306 can be updated by the control unit 302 using the stored measurements.
  • FIG. 6 is a graph illustrating a set of measurements of a force versus position relation for both clamping and releasing the clutch pack by making use of the actuation mechanism.
  • a between line can be estimated using the set of measurements and the equation mentioned above so that motor torque for a particular motor position can be known.
  • a friction model for the clutch actuation system 300 can be constructed and updated using the information about the actuation and release force versus position relation, and used to improve an estimation based on the first method described hereinabove. Further, a value of the transitional force, T f , can be calculated from the learned and calculated relations. Additionally, a value of T f will depend on a speed of the actuation motor 304 during the actuation. Several of these learned relationships can be drawn by classifying the results based on their speed values and or temperature. As such a full friction model for T f , which is dependent on speed and temperature can be identified and used in the first method described hereinabove.
  • a complex spring coefficient can be determined using a slope of the force versus position relation.
  • a kiss point (a position of the actuation motor 304 when the plurality of clutch plates of the clutch pack 308 make contact and start transmitting torque), can be updated.
  • FIG. 7 is a graph illustrating an updating of the kiss point of the clutch actuation system 300.
  • This information can be used in the first method described hereinabove and/or to monitor wear of the clutch actuation system 300 and to diagnose problems with the clutch actuation system 300. For example, a new kiss point can be estimated or determined as the clutch plates wear. Thus, the motor position has to reach a larger value before the kiss point is reached compared with the old kiss point when the clutch plates were not as worn.
  • the information can be used to synchronize the driveline if necessary.
  • bumps or pits in the force versus position relation are typically related to damage, wear, or obstacles on the components of the force translational device 306 (such as, but not limited to, a plurality of balls or ball ramps) or the plurality of plates of the clutch pack 308.
  • FIG. 8 is a graph illustrating an exemplary bump and pit in the force versus position relation. Using the information of the bumps and pits, an estimation of the torque can be adapted, also for the first method described hereinabove.
  • the force versus position relation may also be used by the control unit 302 for diagnostics and prognostics.
  • a deviation exceeds a certain threshold, such as shown in Fig. 8
  • the control unit 302 warns an operator of a vehicle including the clutch actuation system 300 for service of the clutch actuation system 300; however, it is understood that wear of the clutch actuation system 300 may be monitored in another way.
  • each of the above described methods has their advantages and disadvantages.
  • one method may have a more accurate estimation than the other method in certain situations.
  • one situation which may result in a discrepancy between the methods is a very dynamic actuation of the clutch actuation system 300.
  • each of the above described methods has its strengths, it is possible and within the scope of the invention to fuse the methods with one another.
  • FIG. 9 is a schematic illustration of the application of the Kalman filter by the control unit 302.
  • Another example of fusing the above described methods together is by performing a weighted average of the outputs of the methods.
  • the weights of the outputs of the methods are dynamically adapted.
  • the weighted average may be performed by the control unit 302.
  • the clutch actuation system 300 can be used to reduce an amount of power consumption for a given output torque level applied by the clutch pack 308. More particularly, the amount of power consumption of the clutch actuation system 300 is reduced without interfering with the ability of the clutch actuation system 300 to achieve or hold a certain output torque level.
  • FIG. 10 is a graph illustrating an exemplary method for reducing the power consumption of the clutch actuation system 300.
  • the friction is according to the Coulomb model and that the actuation motor 304 of the clutch actuation system 300 is an electromotor.
  • the method which can be used to reduce an amount of power consumption comprises the following steps:

Claims (15)

  1. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308), umfassend:
    Bereitstellen eines Kupplungsbetätigungssystems (300), wobei das Kupplungsbetätigungssystem (300) eine Steuerungseinheit (302), einen Betätigungsmotor (304), eine Krafttranslationsvorrichtung (306) und ein Kupplungspaket (308) umfasst;
    Herstellen eines Eingriffs des Betätigungsmotors (304) mit der Krafttranslationsvorrichtung (306), um ein Motordrehmoment zu produzieren, um eine Sollwertkraft auf das Kupplungspaket (308) anzuwenden;
    Überwachen einer Drehposition des Betätigungsmotors (304) und eines Betrags des auf das Kupplungspaket (308) von dem Betätigungsmotor (304) mit der Sollwertkraft angewendeten Motordrehmoments;
    Feststellen einer Kupplungsklemmkurve, wobei die Kupplungsklemmkurve festgestellt wird basierend auf einer Beziehung zwischen der Drehposition des Betätigungsmotors (304) und dem Betrag von Motordrehmoment, das an der Drehposition des Betätigungsmotors (304) von dem Betätigungsmotor (304) angewendet wird;
    Feststellen einer Kupplungsausrückkurve, wobei die Kupplungsausrückkurve festgestellt wird basierend auf einer Beziehung zwischen der Drehposition des Betätigungsmotors (304) und des Betrags von Motordrehmoment, das an der Drehposition des Betätigungsmotors (304) von dem Betätigungsmotor (304) angewendet wird;
    Modellieren von Reibeigenschaften in Verbindung mit dem Klemmen und Ausrücken des Kupplungspakets (308) durch die Steuerungseinheit, und wobei das Modell der Reibeigenschaft verwendet wird, um für das Kupplungspaket (308) einen Punkt des allmählichen Greifens zu aktualisieren;
    Schätzen einer Klemmkraft und einer Ausrückkraft, angewendet von dem Betätigungsmotor (304) unter Verwendung der Steuerungseinheit (302); und
    gekennzeichnet durch Aufrechterhalten des Betrags von Motordrehmoment, mit der Sollwertkraft angewendet auf das Kupplungspaket (308) zwischen der Kupplungsklemmkurve und der Kupplungsausrückkurve.
  2. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach Anspruch 1, wobei die Krafttranslationsvorrichtung (306) ein Kugel-und-Rampen-Aktuator ist, der eine Kraft zum Betätigen des Kupplungspakets (308) anwendet.
  3. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach Anspruch 2, wobei der Betätigungsmotor (304) mit einem Untersetzungsgetriebe (314) verbunden ist, um den Kugel-und-Rampen-Aktuator (306) wahlweise zu drehen.
  4. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach einem der vorangehenden Ansprüche, wobei das Kupplungspaket (308) eine innere Nabe (326) mit einer ersten Vielzahl von Kupplungsplatten (330), drehverbunden mit einer Achshalbwelle (332), und eine äußere Nabe (328) mit einer zweiten Vielzahl von Kupplungsplatten (342), drehverbunden mit einem Differenzialgehäuse (344), umfasst.
  5. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach einem der vorangehenden Ansprüche, wobei das Modell der Reibeigenschaften des Kupplungsbetätigungssystems (300) auf Reibungskoeffizienten des Betätigungsmotors (304), der Krafttranslationsvorrichtung (306) und/oder des Kupplungspakets (308) des Kupplungsbetätigungssystems (300) basiert.
  6. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach einer der vorangehenden Ansprüche, wobei das Modell der Reibeigenschaften des Kupplungsbetätigungssystems (300) verwendet wird, um für das Kupplungspaket (308) einen Punkt des allmählichen Greifens zu aktualisieren.
  7. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach einem der vorangehenden Ansprüche, ferner umfassend den Schritt des Schätzens einer Beschleunigung und einer Trägheit des Kupplungspakets (308) des Kupplungsbetätigungssystems (300).
  8. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach einem der vorangehenden Ansprüche, wobei das Schätzen des Betrags von Klemmkraft in dem Kupplungspaket (308) auf CF BR + J d 2 θ clamp dt 2 + Tf = Tem clamp
    Figure imgb0007
     basiert; und
    wobei die Schätzung des Betrags von Ausrückkraft in dem Kupplungspaket (308) auf CF BR + J d 2 θ release dt 2 − Tf = Tem release
    Figure imgb0008
     basiert.
  9. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach Anspruch 8, ferner umfassend den Schritt des Schätzens eines Betrags von Kraft, erzeugt durch die Krafttranslationsvorrichtung (306) für jede Position des Kupplungsbetätigungssystems (300); und
    wobei die Kupplungsschätzung des Betrags von Kraft, erzeugt durch die Krafttranslationsvorrichtung (306), auf F BR = 1 2 c Tem clamp + Tem release − J d 2 θ clamp dt 2 + d 2 θ release dt 2 .
    Figure imgb0009
     basiert.
  10. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach einem der vorangehenden Ansprüche, ferner umfassend die Schritte des Protokollierens von Messungen für die Kupplungsklemmkurve und die festgestellte Kupplungsausrückkurve; und
    Aktualisieren der Kupplungsklemmkurve und der Kupplungsausrückkurve durch die Steuerungseinheit (302), basierend auf den Messungen, protokolliert für die Kupplungsklemmkurve und die festgestellte Kupplungsausrückkurve.
  11. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach einem der vorangehenden Ansprüche, ferner umfassend den Schritt des Identifizierens eines Betrags von Schaden, Verschleiß oder Hindernissen innerhalb der Krafttranslationsvorrichtung (306) oder des Kupplungspakets (308) des Kupplungsbetätigungsmechanismus (300).
  12. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach Anspruch 11, wobei der Betrag von Schaden, Verschleiß oder Hindernissen innerhalb der Krafttranslationsvorrichtung (306) oder des Kupplungspakets (308) des Kupplungsbetätigungsmechanismus (300) identifiziert wird basierend auf Erhebungen oder Vertiefungen in der Kupplungsklemmkurve oder der festgestellten Kupplungsausrückkurve; und/oder
    wobei das Verfahren ferner den Schritt umfasst des Warnens eines Fahrzeugbedieners, wenn der Betrag von Schaden, Verschleiß oder Hindernissen innerhalb der Krafttranslationsvorrichtung (306) oder des Kupplungspakets (308) des Kupplungsbetätigungsmechanismus (300) einen vorbestimmten Schwellenwert überschreitet.
  13. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach einem der vorangehenden Ansprüche, wobei der Betätigungsmotor (304) ein elektrisch angetriebener Motor ist.
  14. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach Anspruch 13, ferner umfassend den Schritt des Verringerns des Betrags von Motordrehmoment, angewendet auf das Kupplungspaket (308) mit der Sollwertkraft, und vorzugsweise ferner umfassend den Schritt des Verringerns eines Betrags von elektrischem Strom zu dem Betätigungsmotor (304) während des Schritts des Aufrechterhaltens.
  15. Verfahren zur Schätzung eines Betrags von Kraft in einem Kupplungspaket (308) nach Anspruch 14, ferner umfassend den Schritt des Verwendens der Steuerungseinheit (302) zum Feststellen und Überwachen eines Betrags von elektrischem Strom, der verwendet wird, damit der Betätigungsmotor (304) in Eingriff mit der Krafttranslationsvorrichtung (306) gelangt, zum Feststellen und Überwachen eines Betrags von elektrischem Strom zum Aufrechterhalten des Motordrehmoments zwischen der Kupplungsklemmkurve und der Kupplungsausrückkurve auf der Sollwertkraft, und zum Feststellen und Überwachen des während des Schritts des Aufrechterhaltens verringerten elektrischen Stroms zu dem Betätigungsmotor (304).
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US10087998B2 (en) 2018-10-02
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